Haptic simulation of tissue tearing during surgery

Design Constraints for Haptic Surgery Simulation

There are many engineering challenges that must be addressed in order to successfully integrate haptics with the environmental characteristics found in surgery. The most fundamental of these challenges is to achieve update rates of solid nonlinear deformable objects that are acceptable to the human haptic system. This paper presents a software architecture that is designed to meet these challen...

Cloth Tearing Simulation

Among different physical simulation topics, cloth simulation is one of the most popular subjects in computer graphics. There are many different studies published on different aspects of cloth simulation, but there are not many studies focused on the tearing of cloth. Existing studies related to this topic have only dealt with some aspects of the problem [Metaaphanon et al. 2009] and have not pr...

Haptic Milling Simulation in Six Degrees-of-Freedom With Application to Surgery in Stiff Tissue

The research presented in this thesis describes a substantial part of the design of a prototypical surgical training simulator. The results are intended to be applied in future simulators used to educate and train surgeons for bone milling operations. In earlier work we have developed a haptic bone milling surgery simulator prototype based on three degrees-of-freedom force feedback. The contrib...

Simulation of the Admittance Control Based Haptic Interface Device

Real-Time Graphic and Haptic Simulation of Deformable Tissue Puncture

A myriad of surgical tasks rely on puncturing tissue membranes (Fig. 1) and cutting through tissue mass. Properly training a practitioner for such tasks requires a simulator that can display both the graphical changes and the haptic forces of these deformations, punctures, and cutting actions. This paper documents our work to create a simulator that can model these effects in real time. Generat...